diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 053e7294aaeeeb..cfeac7f31fa5cc 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1070,6 +1070,9 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
 #endif
 #if AP_MAVLINK_MSG_RELAY_STATUS_ENABLED
         { MAVLINK_MSG_ID_RELAY_STATUS, MSG_RELAY_STATUS},
+#endif
+#if AP_AIRSPEED_ENABLED
+        { MAVLINK_MSG_ID_AIRSPEED, MSG_AIRSPEED},
 #endif
             };
 
@@ -5957,6 +5960,17 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_scaled_pressure3();
         break;
 
+#if AP_AIRSPEED_ENABLED
+    case MSG_AIRSPEED:
+        {
+            AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
+            if (airspeed != nullptr) {
+                airspeed->send_mavlink_airspeed(*this);
+            }
+        }
+        break;
+#endif
+
     case MSG_SERVO_OUTPUT_RAW:
         CHECK_PAYLOAD_SIZE(SERVO_OUTPUT_RAW);
         send_servo_output_raw();
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index 973c48d51bad10..75437268dd89ed 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -90,5 +90,6 @@ enum ap_message : uint8_t {
     MSG_HYGROMETER,
     MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE,
     MSG_RELAY_STATUS,
+    MSG_AIRSPEED,
     MSG_LAST // MSG_LAST must be the last entry in this enum
 };